TMC211 DATASHEET (V. 1.04 / January 7, 2005)
39
6.11.4 GetStatus
This command is provided to the circuit by the LIN master to get a quick status (compared to that of
GetFullStatus command) of the circuit and the stepper motor.
The following flags are attempt to reset:
<TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2> and <VddReset>
GetStatus direct ID reading frame (type#5)
Source Byte
Content
Structure
bit 5 Bit 4 bit 3
ID4
Bit 7
*
bit 6
bit 2
ID2
bit 1 bit 0
ID1 ID0
Master
Slave
Note:
0
1
2
Identifier
*
0
ID3
AD [6:0]
TSD
Slave Address
Status
ESW
VddReset StepLoss
ElDef UV2
TW
Tinfo[1:0]
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to GetStatus command.
6.11.5 GotoSecurePosition
This command is provided by the LIN master to one or all stepper motors to move to the secure
position SecPos[10:0]. It can also be triggered if the LIN communication is lost or at the end of a
RunInit initialization phase. If <Broad> is set to zero all stepper motors connected to the LIN bus will
reach their secure position. If SecPos[10:0] equals 0x400 (the most negative decimal value of –1024)
the secure position is disabled and the GotoSecurePosition command is ignored.
GotoSecurePosition general purpose writing frame (type#1)
Source Byte
Content
Structure
bit 5 Bit 4 bit 3
ID4 ID3
bit 7
bit 6
*
bit 2
bit 1 bit 0
ID1 ID0
0
1
2
Identifier
*
0
ID2
Master
Command
1
CMD [6:0] = 0x04
AD [6:0]
Broad
Slave Address
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
6.11.6 HardStop
This command is internally triggered when an electrical problem is detected in one or both coils,
leading to switching off of the H-bridges. If this problem is detected while the motor is moving, the
<StepLoss> flag is raised allowing to warn the Master with the next GetStatus command that steps
may have been lost. A HardStop command can also be issued by the Master for some safety reasons.
If <Broad> is set to zero all the stepper motors connected to the LIN bus will stop.
HardStop general purpose writing frame (type#1)
Source Byte
Content
Structure
bit 5 Bit 4 bit 3
ID4 ID3
bit 7
bit 6
*
bit 2
ID2
bit 1 bit 0
ID1 ID0
0
1
2
Identifier
*
1
0
Master
Command
CMD [6:0] = 0x05
AD [6:0]
Slave Address
Broad
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
